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Move_base plugin of Follow-the-Gap local planner with modifications

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Cryptum169/fgm_plugin

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fgm_plugin

Implementation of Follow the Gap as a local planner plugin for the ROS navigation stack move_base

Notable Reconfigurable Parameters

go_to_goal toggle go-to-goal behavior score toggle gap selection behavior - size vs score alpha tuning parameter of planner, see follow the gap original paper

Examples

A few launch files are prepared for a demo, fgm_world.launch launches a Gazebo world for the package. nav.launch launches the planner and view_navigation.launch provides the GUI for playing with navigation.

Dynamic World

http://gazebosim.org/tutorials?tut=actor